px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Paul Riseborough	e1fe5b2229	Revert "Revert "Split get_terrain_vert_pos() into valid and get_vpos""	8 years ago
Paul Riseborough	c887b02f21	Revert "Split get_terrain_vert_pos() into valid and get_vpos"	8 years ago
ChristophTobler	eae0522dc2	split into get_terrain_valid and get_terrain_vert_pos	8 years ago
ChristophTobler	d2945abd85	return hagl valid false if update was rejected	8 years ago
Roman	7e2597ec28	update range sensor angle parameters in case they have changed Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Roman	aa53f45f15	terrain estimator: removed unused hrt dependancy Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Roman	6480fcc3d5	terrain estimator: fixed computation of filtered time since last range update - do not use hrt to compute delta time - limit filter state - do not use static variables Signed-off-by: Roman <bapstroman@gmail.com>	8 years ago
Paul Riseborough	6561edb9a5	EKF: Clean up terrain estimation functionality. This is a functionally equivalent. It moves all of the code for the terrain estimator into a single function call from the main filter update, making it clear that it is independent of the main filter.	8 years ago
devbharat	8004e9fe7e	EKF: Make range finder data continuous check more robust Use a filtered arrival time delta to determine if range data is continuous	8 years ago
Paul Riseborough	d94068b88a	EKF: Simplify calculation of height above terrain observation variance The tilt compensation being applied previously was based on a flat earth geometric model assuming perfect tilt knowledge which reduces the effect of range errors on height error as the vehicle tilts. however in the real world, variations in terrain gradient and uncertainty in vehicle tilt and sensor alignment tend to increase height error with tilt, so the adjustment of observation variance with tilt has been removed given we do not have a valid mathematical model on which to base it.	8 years ago
Paul Riseborough	3dadc98b43	EKF: enable scaling of range observation variance with height	8 years ago
Paul Riseborough	cf9c8de167	EKF: Add arbitrary pitch offset for range sensor	8 years ago
devbharat	d9688fae7d	EKF: Simplify terrain position validity check Remove the relative accuracy check that was false triggering close to ground	8 years ago
Daniel Agar	7883085e4a	clang-tidy readability-simplify-boolean-expr (#235 )	8 years ago
Paul Riseborough	744b79c1b2	EKF: Publish innovation test ratios	8 years ago
Roman	c6e1d97176	terrain estimator: initialise with projection Signed-off-by: Roman <bapstroman@gmail.com>	9 years ago
Paul Riseborough	65da9173b9	EKF: capture innovation checks and reset events in separate variables rename the innovation check status class variable and remove the reset flags from it.	9 years ago
Paul Riseborough	d80e71a499	EKF: capture HAGL innovation test failures	9 years ago
Paul Riseborough	172f4be594	EKF: Fix bug in calculation of terrain observation variance	9 years ago
Paul Riseborough	481c624975	EKF: Remove use of vehicle arm status Use single externally set in-air status for all decisions	9 years ago
Paul Riseborough	5bf02517a7	EKF: Rationalise use of rotation matrices and improve efficiency	9 years ago
Paul Riseborough	d2407c3463	EKF: code style updates	9 years ago
Paul Riseborough	962fd0aaf2	EKF: Adjust terrain process noise for gradient effect	9 years ago
Paul Riseborough	1a2da887ab	EKF: Fix bug in calculation of terrain estimator Kalman gain	9 years ago
Paul Riseborough	82cbfafb34	EKF: Add source file for terrain vertical position estimator Implements a single state Kalman filter to estimate terrain vertical position relative to the NED origin.	9 years ago

25 Commits (9b6e1ab2a7bf1787842ea9f0acb4008363b5af06)